A classic problem in engineering is the rotational inverted pendulum. It is used to demonstrate and examine movement patterns and control algorithms in control and electrical engineering as well as in mechanical engineering. These help to control robots and other machines.

MiniMACS6 Stabilizes the Furuta Pendulum

Article from | maxon group

The pendulum, named after its Japanese inventor Katsuhisa Furuta, has a simple structure. A driven arm rotates in the horizontal plane and a pendulum attached to that arm rotates in the vertical plane. Theoretical modeling and the need to stabilize these movements are issues that have long racked the brains of engineers. With the Furuta pendulum, there are two variables: the direction of the rotational joint and that of the pendulum, which can be controlled. The pendulum is controlled in the vertical, unstable position, while the arm assumes any position. Since it is a nonlinear, unstable system, it is suitable for conducting experiments, for testing existing control algorithms, and for developing new calculation methods. It frequently combines approaches from research areas such as robotics, control theory, and computerized control.

 

Finding the right controller

A suitable controller can be developed using different design strategies. Suitable controller structures for an inverted pendulum include PID, LQR, fuzzy, or self-learning neural controllers. The physical system with multiple degrees of freedom can be modeled mathematically. For the swing-up of the pendulum from the rest position (zero position), nonlinear approaches such as energy approaches are required. A suitable controller is then designed with the help of the mathematical description. This controller can be approximated or discretized for real-time-capable systems and transferred to a controller such as the MiniMACS6-AMP4.

 

The compact controller

The maxon MiniMACS6-AMP4 is a programmable master controller with integrated power stages. It is the stabilizing controller for the rotational inverted pendulum. This allows complex movement patterns to be executed with simple commands, for example for jerk-free synchronization with a rotating master axis. Benefits of the MiniMACS6-AMP4 multi-axis controller:

  • Assumes the master function; no higher-level controller required
  • License-free motion control functionality included
  • Compact drive solution with integrated power stages

The license-free automation software ApossIDE (Integrated Development Environment) can be used to set up positioning and synchronization tasks with simple commands or you can run your own control algorithms using C (ApossC).

Cascade control

Example of cascade control with a maxon motion controller such as the MiniMACS6-AMP4. The programmability and integrated path planning mean that a higher-level controller is not strictly required.
 

In action: The MiniMACS6-AMP4 stabilizes the rotational inverted pendulum.

COMPACT MiniMACS6-AMP4 multi-axis controller

The programmable multi-axis controller with integrated power stages is the stabilizing controller for the rotational inverted pendulum and ensures jerk-free synchronization with the rotating axis.

 

 

The content & opinions in this article are the author’s and do not necessarily represent the views of RoboticsTomorrow
maxon group

maxon group

maxon is a leading supplier of high-precision DC brush and brushless servo motors and drives. These motors range in size from 4 - 90 mm and are available up to 500 watts. We combine electric motors, gears and DC motor controls into high-precision, intelligent drive systems that can be custom-made to fit the specific needs of customer applications.

Other Articles

The rise of modular robots and the importance of drive train design
As part of an in-house robot build, optimizing the drive train that powers and controls each joint is vital to the robot’s performance. The most effective way of achieving this is by developing the drive train as a complete module.
Optimizing Material Handling Processes for Increased Efficiency
Over the past few years, all aspects of the warehousing sector have been automated and this naturally includes the materials handling processes. This automation has increased efficiency across the board as well as improving employee safety and productivity.
200 Times Faster Subsea Inspection
Precise motion control is helping a new subsea inspection device achieve highly accurate inspection with the fastest-yet speeds of data collection.
More about maxon group

Comments (0)

This post does not have any comments. Be the first to leave a comment below.


Post A Comment

You must be logged in before you can post a comment. Login now.

Featured Product

BitFlow Introduces 6th Generation Camera Link Frame Grabber: The Axion

BitFlow Introduces 6th Generation Camera Link Frame Grabber: The Axion

BitFlow has offered a Camera Link frame grabbers for almost 15 years. This latest offering, our 6th generation combines the power of CoaXPress with the requirements of Camera Link 2.0. Enabling a single or two camera system to operate at up to 850 MB/S per camera, the Axion-CL family is the best choice for CL frame grabber. Like the Cyton-CXP frame grabber, the Axion-CL leverages features such as the new StreamSync system, a highly optimized DMA engine, and expanded I/O capabilities that provide unprecedented flexibility in routing. There are two options available; Axion 1xE & Axion 2xE. The Axion 1xE is compatible with one base, medium, full or 80-bit camera offering PoCL, Power over Camera Link, on both connectors. The Axion 2xE is compatible with two base, medium, full or 80-bit cameras offering PoCL on both connectors for both cameras. The Axion-CL is a culmination of the continuous improvements and updates BitFlow has made to Camera Link frame grabbers.